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<div class="title">PxMassProperties.h</div>  </div>
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<a href="PxMassProperties_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Redistribution and use in source and binary forms, with or without</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">// modification, are permitted provided that the following conditions</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">// are met:</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">//  * Redistributions of source code must retain the above copyright</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">//    notice, this list of conditions and the following disclaimer.</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">//  * Redistributions in binary form must reproduce the above copyright</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">//    notice, this list of conditions and the following disclaimer in the</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">//    documentation and/or other materials provided with the distribution.</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">//  * Neither the name of NVIDIA CORPORATION nor the names of its</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">//    contributors may be used to endorse or promote products derived</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">//    from this software without specific prior written permission.</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS &#39;&#39;AS IS&#39;&#39; AND ANY</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">// PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment">// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment">// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment">// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment">// Copyright (c) 2008-2021 NVIDIA Corporation. All rights reserved.</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment">// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment">// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  </span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="preprocessor">#ifndef PX_PHYSICS_EXTENSIONS_MASS_PROPERTIES_H</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="preprocessor">#define PX_PHYSICS_EXTENSIONS_MASS_PROPERTIES_H</span></div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="PxPhysXConfig_8h.html">PxPhysXConfig.h</a>&quot;</span></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="PxMath_8h.html">foundation/PxMath.h</a>&quot;</span></div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="PxMathUtils_8h.html">foundation/PxMathUtils.h</a>&quot;</span></div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="PxVec3_8h.html">foundation/PxVec3.h</a>&quot;</span></div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="PxMat33_8h.html">foundation/PxMat33.h</a>&quot;</span></div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="PxQuat_8h.html">foundation/PxQuat.h</a>&quot;</span></div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="PxTransform_8h.html">foundation/PxTransform.h</a>&quot;</span></div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="PxGeometry_8h.html">geometry/PxGeometry.h</a>&quot;</span></div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="PxBoxGeometry_8h.html">geometry/PxBoxGeometry.h</a>&quot;</span></div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="PxSphereGeometry_8h.html">geometry/PxSphereGeometry.h</a>&quot;</span></div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="PxCapsuleGeometry_8h.html">geometry/PxCapsuleGeometry.h</a>&quot;</span></div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="PxConvexMeshGeometry_8h.html">geometry/PxConvexMeshGeometry.h</a>&quot;</span></div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="PxConvexMesh_8h.html">geometry/PxConvexMesh.h</a>&quot;</span></div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="preprocessor">#if !PX_DOXYGEN</span></div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacephysx.html">physx</a></div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;{</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;</div><div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="classPxMassProperties.html">   63</a></span>&#160;<span class="keyword">class </span><a class="code" href="classPxMassProperties.html">PxMassProperties</a></div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;{</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="classPxMassProperties.html#a1cbdb127fcb5b2b3617693e24ccdb49b">   69</a></span>&#160;    <a class="code" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="classPxMassProperties.html#a1cbdb127fcb5b2b3617693e24ccdb49b">PxMassProperties</a>() : inertiaTensor(<a class="code" href="group__foundation.html#gga70160ca5bbafef277790b3e0f12baf38a95e14c69af8048aedd218cd6e96ad50f">PxIdentity</a>), centerOfMass(0.0f), mass(1.0f) {}</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;</div><div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="classPxMassProperties.html#a5a7eadca391b0cd981c0b35e08c82662">   74</a></span>&#160;    <a class="code" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="classPxMassProperties.html#a5a7eadca391b0cd981c0b35e08c82662">PxMassProperties</a>(<span class="keyword">const</span> <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> m, <span class="keyword">const</span> <a class="code" href="classPxMat33.html">PxMat33</a>&amp; inertiaT, <span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>&amp; com) : inertiaTensor(inertiaT), centerOfMass(com), mass(m) {}</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;</div><div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="classPxMassProperties.html#acc8eadc90e93df0e25d4dfb63988a596">   83</a></span>&#160;    <a class="code" href="classPxMassProperties.html#acc8eadc90e93df0e25d4dfb63988a596">PxMassProperties</a>(<span class="keyword">const</span> <a class="code" href="classPxGeometry.html">PxGeometry</a>&amp; <a class="code" href="PxGeometryHelpers_8h.html#aa55209c75b105f03f459417b08801e69">geometry</a>)</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    {</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        <span class="keywordflow">switch</span> (<a class="code" href="PxGeometryHelpers_8h.html#aa55209c75b105f03f459417b08801e69">geometry</a>.getType())</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;        {</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;            <span class="keywordflow">case</span> <a class="code" href="structPxGeometryType.html#aefc79f72c4c479192ac19d41a6f30ed5a2c5cbcb67ffa54ebcdc1674f12b07fb8">PxGeometryType::eSPHERE</a>:</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;            {</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;                <span class="keyword">const</span> <a class="code" href="classPxSphereGeometry.html">PxSphereGeometry</a>&amp; s = <span class="keyword">static_cast&lt;</span><span class="keyword">const </span><a class="code" href="classPxSphereGeometry.html">PxSphereGeometry</a>&amp;<span class="keyword">&gt;</span>(<a class="code" href="PxGeometryHelpers_8h.html#aa55209c75b105f03f459417b08801e69">geometry</a>);</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;                mass = (4.0f / 3.0f) * <a class="code" href="group__foundation.html#gabcd49a429b8119de54375b3538ae8a8d">PxPi</a> * s.<a class="code" href="classPxSphereGeometry.html#a092be2e608f402b2c2da0309ad6fb2df">radius</a> * s.<a class="code" href="classPxSphereGeometry.html#a092be2e608f402b2c2da0309ad6fb2df">radius</a> * s.<a class="code" href="classPxSphereGeometry.html#a092be2e608f402b2c2da0309ad6fb2df">radius</a>;</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;                inertiaTensor = <a class="code" href="classPxMat33.html#ae7052afa072d3c45c1f570a6a794c6a5">PxMat33::createDiagonal</a>(<a class="code" href="classPxVec3.html">PxVec3</a>(2.0f / 5.0f * mass * s.<a class="code" href="classPxSphereGeometry.html#a092be2e608f402b2c2da0309ad6fb2df">radius</a> * s.<a class="code" href="classPxSphereGeometry.html#a092be2e608f402b2c2da0309ad6fb2df">radius</a>));</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;                centerOfMass = <a class="code" href="classPxVec3.html">PxVec3</a>(0.0f);</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;            }</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;            <span class="keywordflow">break</span>;</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;            <span class="keywordflow">case</span> <a class="code" href="structPxGeometryType.html#aefc79f72c4c479192ac19d41a6f30ed5a4ac248bdee2283c0471c9dc0eba40c34">PxGeometryType::eBOX</a>:</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; 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               centerOfMass = <a class="code" href="classPxVec3.html">PxVec3</a>(0.0f);</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;            }</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;            <span class="keywordflow">break</span>;</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;            <span class="keywordflow">case</span> <a class="code" href="structPxGeometryType.html#aefc79f72c4c479192ac19d41a6f30ed5a78c4217b41a6ba726f8a77faecf46bb8">PxGeometryType::eCAPSULE</a>:</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;            {</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;                <span class="keyword">const</span> <a class="code" href="classPxCapsuleGeometry.html">PxCapsuleGeometry</a>&amp; c = <span class="keyword">static_cast&lt;</span><span class="keyword">const </span><a class="code" href="classPxCapsuleGeometry.html">PxCapsuleGeometry</a>&amp;<span class="keyword">&gt;</span>(<a class="code" href="PxGeometryHelpers_8h.html#aa55209c75b105f03f459417b08801e69">geometry</a>);</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160; 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           <span class="keywordflow">case</span> <a class="code" href="structPxGeometryType.html#aefc79f72c4c479192ac19d41a6f30ed5a9f3d57b4f0e71ce2a6cf29bee36162ed">PxGeometryType::eCONVEXMESH</a>:</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;            {</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;                <span class="keyword">const</span> <a class="code" href="classPxConvexMeshGeometry.html">PxConvexMeshGeometry</a>&amp; c = <span class="keyword">static_cast&lt;</span><span class="keyword">const </span><a class="code" href="classPxConvexMeshGeometry.html">PxConvexMeshGeometry</a>&amp;<span class="keyword">&gt;</span>(<a class="code" href="PxGeometryHelpers_8h.html#aa55209c75b105f03f459417b08801e69">geometry</a>);</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;                <a class="code" href="classPxVec3.html">PxVec3</a> unscaledCoM;</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; 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   }</div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;</div><div class="line"><a name="l00165"></a><span class="lineno"><a class="line" href="classPxMassProperties.html#a85e7fed6380689c668afa3f531013d2b">  165</a></span>&#160;    <a class="code" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="classPxMassProperties.html">PxMassProperties</a> <a class="code" href="classPxMassProperties.html#a85e7fed6380689c668afa3f531013d2b">operator*</a>(<span class="keyword">const</span> <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> scale)<span class="keyword"> const</span></div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;<span class="keyword">    </span>{</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;        <a class="code" href="group__foundation.html#ga4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(<a class="code" href="group__foundation.html#gad6de0f4af98c5c5280b8fe695dc87318">PxIsFinite</a>(scale));</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;</div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160; 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   {</div><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;        <a class="code" href="group__foundation.html#ga4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(inertia.<a class="code" href="classPxMat33.html#a89d12d4e50ffc5ef8e480bdd3dadb78a">column0</a>.<a class="code" href="classPxVec3.html#a2872352117f5ce82ff60ef28207be947">isFinite</a>() &amp;&amp; inertia.<a class="code" href="classPxMat33.html#a62f190479e12e7b9ec5cf831b23c95e9">column1</a>.<a class="code" href="classPxVec3.html#a2872352117f5ce82ff60ef28207be947">isFinite</a>() &amp;&amp; inertia.<a class="code" href="classPxMat33.html#a9af2a3d4f9cca979c3e46a6406de6957">column2</a>.<a class="code" href="classPxVec3.html#a2872352117f5ce82ff60ef28207be947">isFinite</a>());</div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;</div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;        <a class="code" href="classPxVec3.html">PxVec3</a> diagT = <a class="code" href="group__common.html#gade7a77d4ae9d14e363364a9d72cf4932">PxDiagonalize</a>(inertia, massFrame);</div><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160; 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inertia, <span class="keyword">const</span> <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> mass, <span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>&amp; t)</div><div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;    {</div><div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;        <a class="code" href="group__foundation.html#ga4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(inertia.<a class="code" href="classPxMat33.html#a89d12d4e50ffc5ef8e480bdd3dadb78a">column0</a>.<a class="code" href="classPxVec3.html#a2872352117f5ce82ff60ef28207be947">isFinite</a>() &amp;&amp; inertia.<a class="code" href="classPxMat33.html#a62f190479e12e7b9ec5cf831b23c95e9">column1</a>.<a class="code" href="classPxVec3.html#a2872352117f5ce82ff60ef28207be947">isFinite</a>() &amp;&amp; inertia.<a class="code" href="classPxMat33.html#a9af2a3d4f9cca979c3e46a6406de6957">column2</a>.<a class="code" href="classPxVec3.html#a2872352117f5ce82ff60ef28207be947">isFinite</a>());</div><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160; 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inertia.<a class="code" href="classPxMat33.html#a9af2a3d4f9cca979c3e46a6406de6957">column2</a>.<a class="code" href="classPxVec3.html#a2872352117f5ce82ff60ef28207be947">isFinite</a>());</div><div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;        <a class="code" href="group__foundation.html#ga4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(q.<a class="code" href="classPxQuat.html#a35ac53818eeab314fc2888542b969544">isUnit</a>());</div><div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;</div><div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;        <a class="code" href="classPxMat33.html">PxMat33</a> m(q);</div><div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;        <a class="code" href="classPxMat33.html">PxMat33</a> rotatedIT = m * inertia * m.<a class="code" href="classPxMat33.html#a03af319e25574c59fb66ceb675bb6b56">getTranspose</a>();</div><div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160; 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               yz = localInertiaT[1][2] * scale.<a class="code" href="classPxVec3.html#a29958700f50da2204edc519b47706a05">y</a> * scale.<a class="code" href="classPxVec3.html#a50d67b162b99b904c3f362ad0415dbca">z</a>;</div><div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;</div><div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;        <a class="code" href="classPxMat33.html">PxMat33</a> scaledInertia(  <a class="code" href="classPxVec3.html">PxVec3</a>(xx, xy, xz),</div><div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;                                <a class="code" href="classPxVec3.html">PxVec3</a>(xy, yy, yz),</div><div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;                                <a class="code" href="classPxVec3.html">PxVec3</a>(xz, yz, zz));</div><div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;</div><div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160; 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scaledIT.<a class="code" href="classPxMat33.html#a9af2a3d4f9cca979c3e46a6406de6957">column2</a>.<a class="code" href="classPxVec3.html#a2872352117f5ce82ff60ef28207be947">isFinite</a>());</div><div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;        <span class="keywordflow">return</span> scaledIT;</div><div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;    }</div><div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;</div><div class="line"><a name="l00291"></a><span class="lineno"><a class="line" href="classPxMassProperties.html#a63e7875cb60efa35150002e56fcfa43f">  291</a></span>&#160;    <span class="keyword">static</span> <a class="code" href="classPxMassProperties.html">PxMassProperties</a> <a class="code" href="classPxMassProperties.html#a63e7875cb60efa35150002e56fcfa43f">sum</a>(<span class="keyword">const</span> <a class="code" href="classPxMassProperties.html">PxMassProperties</a>* props, <span class="keyword">const</span> <a class="code" href="classPxTransform.html">PxTransform</a>* transforms, <span class="keyword">const</span> <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> count)</div><div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;    {</div><div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;        <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> combinedMass = 0.0f;</div><div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;        <a class="code" href="classPxVec3.html">PxVec3</a> combinedCoM(0.0f);</div><div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;        <a class="code" href="classPxMat33.html">PxMat33</a> combinedInertiaT = <a class="code" href="classPxMat33.html">PxMat33</a>(<a class="code" href="group__foundation.html#ggac10bd69c94c165a52f6de39678ef9d4ca0ea259a79d3556f2986a96b5fbf8d4bc">PxZero</a>);</div><div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;</div><div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;        <span class="keywordflow">for</span>(<a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> i = 0; i &lt; count; i++)</div><div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;        {</div><div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;            <a class="code" href="group__foundation.html#ga4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(props[i].inertiaTensor.column0.isFinite() &amp;&amp; props[i].<a class="code" href="classPxMassProperties.html#aeefe4de17f788dacbf9c48fd5ec857ac">inertiaTensor</a>.<a class="code" href="classPxMat33.html#a62f190479e12e7b9ec5cf831b23c95e9">column1</a>.<a class="code" href="classPxVec3.html#a2872352117f5ce82ff60ef28207be947">isFinite</a>() &amp;&amp; props[i].<a class="code" href="classPxMassProperties.html#aeefe4de17f788dacbf9c48fd5ec857ac">inertiaTensor</a>.<a class="code" href="classPxMat33.html#a9af2a3d4f9cca979c3e46a6406de6957">column2</a>.<a class="code" href="classPxVec3.html#a2872352117f5ce82ff60ef28207be947">isFinite</a>());</div><div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;            <a class="code" href="group__foundation.html#ga4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(props[i].centerOfMass.isFinite());</div><div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;            <a class="code" href="group__foundation.html#ga4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(<a class="code" href="group__foundation.html#gad6de0f4af98c5c5280b8fe695dc87318">PxIsFinite</a>(props[i].mass));</div><div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;</div><div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;            combinedMass += props[i].<a class="code" href="classPxMassProperties.html#a978392fb04bb472602f9fc1315d5f116">mass</a>;</div><div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;            <span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a> comTm = transforms[i].<a class="code" href="classPxTransform.html#adf6d2666a8113a72b4abbfe2e993a781">transform</a>(props[i].centerOfMass);</div><div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;            combinedCoM += comTm * props[i].<a class="code" href="classPxMassProperties.html#a978392fb04bb472602f9fc1315d5f116">mass</a>;</div><div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;        }</div><div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;</div><div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;        <span class="keywordflow">if</span>(combinedMass &gt; 0.f)</div><div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;            combinedCoM /= combinedMass;</div><div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;</div><div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;        <span class="keywordflow">for</span>(<a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> i = 0; i &lt; count; i++)</div><div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;        {</div><div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;            <span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a> comTm = transforms[i].<a class="code" href="classPxTransform.html#adf6d2666a8113a72b4abbfe2e993a781">transform</a>(props[i].centerOfMass);</div><div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;            combinedInertiaT += translateInertia(rotateInertia(props[i].inertiaTensor, transforms[i].q), props[i].mass, combinedCoM - comTm);</div><div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;        }</div><div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;</div><div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;        <a class="code" href="group__foundation.html#ga4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(combinedInertiaT.<a class="code" href="classPxMat33.html#a89d12d4e50ffc5ef8e480bdd3dadb78a">column0</a>.<a class="code" href="classPxVec3.html#a2872352117f5ce82ff60ef28207be947">isFinite</a>() &amp;&amp; combinedInertiaT.<a class="code" href="classPxMat33.html#a62f190479e12e7b9ec5cf831b23c95e9">column1</a>.<a class="code" href="classPxVec3.html#a2872352117f5ce82ff60ef28207be947">isFinite</a>() &amp;&amp; combinedInertiaT.<a class="code" href="classPxMat33.html#a9af2a3d4f9cca979c3e46a6406de6957">column2</a>.<a class="code" href="classPxVec3.html#a2872352117f5ce82ff60ef28207be947">isFinite</a>());</div><div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;        <a class="code" href="group__foundation.html#ga4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(combinedCoM.<a class="code" href="classPxVec3.html#a2872352117f5ce82ff60ef28207be947">isFinite</a>());</div><div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;        <a class="code" href="group__foundation.html#ga4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(<a class="code" href="group__foundation.html#gad6de0f4af98c5c5280b8fe695dc87318">PxIsFinite</a>(combinedMass));</div><div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;</div><div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="classPxMassProperties.html">PxMassProperties</a>(combinedMass, combinedInertiaT, combinedCoM);</div><div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;    }</div><div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;</div><div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;</div><div class="line"><a name="l00325"></a><span class="lineno"><a class="line" href="classPxMassProperties.html#aeefe4de17f788dacbf9c48fd5ec857ac">  325</a></span>&#160;    <a class="code" href="classPxMat33.html">PxMat33</a> <a class="code" href="classPxMassProperties.html#aeefe4de17f788dacbf9c48fd5ec857ac">inertiaTensor</a>;          </div><div class="line"><a name="l00326"></a><span class="lineno"><a class="line" href="classPxMassProperties.html#a8f4e5b19248941b3ee2369afadb20e96">  326</a></span>&#160;    <a class="code" href="classPxVec3.html">PxVec3</a>  <a class="code" href="classPxMassProperties.html#a8f4e5b19248941b3ee2369afadb20e96">centerOfMass</a>;           </div><div class="line"><a name="l00327"></a><span class="lineno"><a class="line" href="classPxMassProperties.html#a978392fb04bb472602f9fc1315d5f116">  327</a></span>&#160;    <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a>  <a class="code" href="classPxMassProperties.html#a978392fb04bb472602f9fc1315d5f116">mass</a>;                   </div><div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;};</div><div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;</div><div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;<span class="preprocessor">#if !PX_DOXYGEN</span></div><div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;} <span class="comment">// namespace physx</span></div><div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;</div><div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="namespacephysx_html"><div class="ttname"><a href="namespacephysx.html">physx</a></div><div class="ttdef"><b>Definition:</b> GuContactBuffer.h:37</div></div>
<div class="ttc" id="PxConvexMesh_8h_html"><div class="ttname"><a href="PxConvexMesh_8h.html">PxConvexMesh.h</a></div></div>
<div class="ttc" id="classPxQuat_html_a955317d16f9eeb450c4d37d3d8a3f638"><div class="ttname"><a href="classPxQuat.html#a955317d16f9eeb450c4d37d3d8a3f638">PxQuat::getConjugate</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_INLINE PxQuat getConjugate() const</div><div class="ttdef"><b>Definition:</b> PxQuat.h:247</div></div>
<div class="ttc" id="classPxMassProperties_html_acc8eadc90e93df0e25d4dfb63988a596"><div class="ttname"><a href="classPxMassProperties.html#acc8eadc90e93df0e25d4dfb63988a596">PxMassProperties::PxMassProperties</a></div><div class="ttdeci">PxMassProperties(const PxGeometry &amp;geometry)</div><div class="ttdoc">Compute mass properties based on a provided geometry structure. </div><div class="ttdef"><b>Definition:</b> PxMassProperties.h:83</div></div>
<div class="ttc" id="group__foundation_html_gga70160ca5bbafef277790b3e0f12baf38a95e14c69af8048aedd218cd6e96ad50f"><div class="ttname"><a href="group__foundation.html#gga70160ca5bbafef277790b3e0f12baf38a95e14c69af8048aedd218cd6e96ad50f">PxIdentity</a></div><div class="ttdef"><b>Definition:</b> Px.h:84</div></div>
<div class="ttc" id="classPxConvexMeshGeometry_html_a2fdc589d347de81e55c8b45b7c133feb"><div class="ttname"><a href="classPxConvexMeshGeometry.html#a2fdc589d347de81e55c8b45b7c133feb">PxConvexMeshGeometry::convexMesh</a></div><div class="ttdeci">PxConvexMesh * convexMesh</div><div class="ttdoc">A reference to the convex mesh object. </div><div class="ttdef"><b>Definition:</b> PxConvexMeshGeometry.h:126</div></div>
<div class="ttc" id="classPxVec3_html_a2872352117f5ce82ff60ef28207be947"><div class="ttname"><a href="classPxVec3.html#a2872352117f5ce82ff60ef28207be947">PxVec3::isFinite</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_INLINE bool isFinite() const</div><div class="ttdoc">returns true if all 3 elems of the vector are finite (not NAN or INF, etc.) </div><div class="ttdef"><b>Definition:</b> PxVec3.h:156</div></div>
<div class="ttc" id="classPxConvexMesh_html_a497cea6e1975b9081760afc602985bbc"><div class="ttname"><a href="classPxConvexMesh.html#a497cea6e1975b9081760afc602985bbc">PxConvexMesh::getMassInformation</a></div><div class="ttdeci">virtual PX_PHYSX_COMMON_API void getMassInformation(PxReal &amp;mass, PxMat33 &amp;localInertia, PxVec3 &amp;localCenterOfMass) const =0</div><div class="ttdoc">Returns the mass properties of the mesh assuming unit density. </div></div>
<div class="ttc" id="PxQuat_8h_html"><div class="ttname"><a href="PxQuat_8h.html">PxQuat.h</a></div></div>
<div class="ttc" id="classPxConvexMeshGeometry_html_a777f625bb1fd49fabf03eb4be02ed581"><div class="ttname"><a href="classPxConvexMeshGeometry.html#a777f625bb1fd49fabf03eb4be02ed581">PxConvexMeshGeometry::scale</a></div><div class="ttdeci">PxMeshScale scale</div><div class="ttdoc">The scaling transformation (from vertex space to shape space). </div><div class="ttdef"><b>Definition:</b> PxConvexMeshGeometry.h:125</div></div>
<div class="ttc" id="classPxMassProperties_html_a6b65afdb22147ade5f1ca7f77e591924"><div class="ttname"><a href="classPxMassProperties.html#a6b65afdb22147ade5f1ca7f77e591924">PxMassProperties::translate</a></div><div class="ttdeci">PX_FORCE_INLINE void translate(const PxVec3 &amp;t)</div><div class="ttdoc">Translate the center of mass by a given vector and adjust the inertia tensor accordingly. </div><div class="ttdef"><b>Definition:</b> PxMassProperties.h:177</div></div>
<div class="ttc" id="classPxCapsuleGeometry_html"><div class="ttname"><a href="classPxCapsuleGeometry.html">PxCapsuleGeometry</a></div><div class="ttdoc">Class representing the geometry of a capsule. </div><div class="ttdef"><b>Definition:</b> PxCapsuleGeometry.h:55</div></div>
<div class="ttc" id="classPxMeshScale_html"><div class="ttname"><a href="classPxMeshScale.html">PxMeshScale</a></div><div class="ttdoc">A class expressing a nonuniform scaling transformation. </div><div class="ttdef"><b>Definition:</b> PxMeshScale.h:68</div></div>
<div class="ttc" id="classPxBoxGeometry_html_a8fe8be4ca1467353956634d550dc8561"><div class="ttname"><a href="classPxBoxGeometry.html#a8fe8be4ca1467353956634d550dc8561">PxBoxGeometry::halfExtents</a></div><div class="ttdeci">PxVec3 halfExtents</div><div class="ttdoc">Half of the width, height, and depth of the box. </div><div class="ttdef"><b>Definition:</b> PxBoxGeometry.h:88</div></div>
<div class="ttc" id="group__foundation_html_gabcd49a429b8119de54375b3538ae8a8d"><div class="ttname"><a href="group__foundation.html#gabcd49a429b8119de54375b3538ae8a8d">PxPi</a></div><div class="ttdeci">static const float PxPi</div><div class="ttdef"><b>Definition:</b> PxMath.h:58</div></div>
<div class="ttc" id="classPxVec3_html_a4c136327953ea1b09be10d979279b7dc"><div class="ttname"><a href="classPxVec3.html#a4c136327953ea1b09be10d979279b7dc">PxVec3::dot</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE float dot(const PxVec3 &amp;v) const</div><div class="ttdoc">returns the scalar product of this and other. </div><div class="ttdef"><b>Definition:</b> PxVec3.h:276</div></div>
<div class="ttc" id="group__foundation_html_ga6a774eed3cad34b0f636332a3d28c6bb"><div class="ttname"><a href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a></div><div class="ttdeci">#define PX_FORCE_INLINE</div><div class="ttdef"><b>Definition:</b> PxPreprocessor.h:351</div></div>
<div class="ttc" id="classPxQuat_html"><div class="ttname"><a href="classPxQuat.html">PxQuat</a></div><div class="ttdoc">This is a quaternion class. For more information on quaternion mathematics consult a mathematics sour...</div><div class="ttdef"><b>Definition:</b> PxQuat.h:49</div></div>
<div class="ttc" id="namespacephysx_html_a727d2d8426e2a21ebbc522fa65c3f97a"><div class="ttname"><a href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">physx::PxReal</a></div><div class="ttdeci">float PxReal</div><div class="ttdef"><b>Definition:</b> PxSimpleTypes.h:78</div></div>
<div class="ttc" id="classPxSphereGeometry_html"><div class="ttname"><a href="classPxSphereGeometry.html">PxSphereGeometry</a></div><div class="ttdoc">A class representing the geometry of a sphere. </div><div class="ttdef"><b>Definition:</b> PxSphereGeometry.h:49</div></div>
<div class="ttc" id="PxSphereGeometry_8h_html"><div class="ttname"><a href="PxSphereGeometry_8h.html">PxSphereGeometry.h</a></div></div>
<div class="ttc" id="PxConvexMeshGeometry_8h_html"><div class="ttname"><a href="PxConvexMeshGeometry_8h.html">PxConvexMeshGeometry.h</a></div></div>
<div class="ttc" id="classPxMassProperties_html_a4ba3bf338320c9f0bf558b5d3a9046bd"><div class="ttname"><a href="classPxMassProperties.html#a4ba3bf338320c9f0bf558b5d3a9046bd">PxMassProperties::scaleInertia</a></div><div class="ttdeci">static PxMat33 scaleInertia(const PxMat33 &amp;inertia, const PxQuat &amp;scaleRotation, const PxVec3 &amp;scale)</div><div class="ttdoc">Non-uniform scaling of the inertia tensor. </div><div class="ttdef"><b>Definition:</b> PxMassProperties.h:254</div></div>
<div class="ttc" id="classPxMassProperties_html_a1cbdb127fcb5b2b3617693e24ccdb49b"><div class="ttname"><a href="classPxMassProperties.html#a1cbdb127fcb5b2b3617693e24ccdb49b">PxMassProperties::PxMassProperties</a></div><div class="ttdeci">PX_FORCE_INLINE PxMassProperties()</div><div class="ttdoc">Default constructor. </div><div class="ttdef"><b>Definition:</b> PxMassProperties.h:69</div></div>
<div class="ttc" id="structPxGeometryType_html_aefc79f72c4c479192ac19d41a6f30ed5a78c4217b41a6ba726f8a77faecf46bb8"><div class="ttname"><a href="structPxGeometryType.html#aefc79f72c4c479192ac19d41a6f30ed5a78c4217b41a6ba726f8a77faecf46bb8">PxGeometryType::eCAPSULE</a></div><div class="ttdef"><b>Definition:</b> PxGeometry.h:57</div></div>
<div class="ttc" id="classPxSphereGeometry_html_a092be2e608f402b2c2da0309ad6fb2df"><div class="ttname"><a href="classPxSphereGeometry.html#a092be2e608f402b2c2da0309ad6fb2df">PxSphereGeometry::radius</a></div><div class="ttdeci">PxReal radius</div><div class="ttdoc">The radius of the sphere. </div><div class="ttdef"><b>Definition:</b> PxSphereGeometry.h:72</div></div>
<div class="ttc" id="structPxGeometryType_html_aefc79f72c4c479192ac19d41a6f30ed5a77b1d68c4f5a18bc259a623e1497a880"><div class="ttname"><a href="structPxGeometryType.html#aefc79f72c4c479192ac19d41a6f30ed5a77b1d68c4f5a18bc259a623e1497a880">PxGeometryType::eHEIGHTFIELD</a></div><div class="ttdef"><b>Definition:</b> PxGeometry.h:61</div></div>
<div class="ttc" id="classPxMeshScale_html_a63902c04c9a3f326b5f969fa931e53fd"><div class="ttname"><a href="classPxMeshScale.html#a63902c04c9a3f326b5f969fa931e53fd">PxMeshScale::rotation</a></div><div class="ttdeci">PxQuat rotation</div><div class="ttdoc">The orientation of the scaling axes. </div><div class="ttdef"><b>Definition:</b> PxMeshScale.h:165</div></div>
<div class="ttc" id="classPxGeometry_html"><div class="ttname"><a href="classPxGeometry.html">PxGeometry</a></div><div class="ttdoc">A geometry object. </div><div class="ttdef"><b>Definition:</b> PxGeometry.h:75</div></div>
<div class="ttc" id="PxPhysXConfig_8h_html"><div class="ttname"><a href="PxPhysXConfig_8h.html">PxPhysXConfig.h</a></div></div>
<div class="ttc" id="structPxGeometryType_html_aefc79f72c4c479192ac19d41a6f30ed5a2c5cbcb67ffa54ebcdc1674f12b07fb8"><div class="ttname"><a href="structPxGeometryType.html#aefc79f72c4c479192ac19d41a6f30ed5a2c5cbcb67ffa54ebcdc1674f12b07fb8">PxGeometryType::eSPHERE</a></div><div class="ttdef"><b>Definition:</b> PxGeometry.h:55</div></div>
<div class="ttc" id="structPxGeometryType_html_aefc79f72c4c479192ac19d41a6f30ed5afa28e3dbd2e28f7c0948c35723f42105"><div class="ttname"><a href="structPxGeometryType.html#aefc79f72c4c479192ac19d41a6f30ed5afa28e3dbd2e28f7c0948c35723f42105">PxGeometryType::eGEOMETRY_COUNT</a></div><div class="ttdoc">internal use only! </div><div class="ttdef"><b>Definition:</b> PxGeometry.h:62</div></div>
<div class="ttc" id="group__foundation_html_ggac10bd69c94c165a52f6de39678ef9d4ca0ea259a79d3556f2986a96b5fbf8d4bc"><div class="ttname"><a href="group__foundation.html#ggac10bd69c94c165a52f6de39678ef9d4ca0ea259a79d3556f2986a96b5fbf8d4bc">PxZero</a></div><div class="ttdef"><b>Definition:</b> Px.h:78</div></div>
<div class="ttc" id="classPxMassProperties_html_a4d63a246cd8a59f8709126a4b4528fb6"><div class="ttname"><a href="classPxMassProperties.html#a4d63a246cd8a59f8709126a4b4528fb6">PxMassProperties::rotateInertia</a></div><div class="ttdeci">static PX_FORCE_INLINE PxMat33 rotateInertia(const PxMat33 &amp;inertia, const PxQuat &amp;q)</div><div class="ttdoc">Rotate an inertia tensor around the center of mass. </div><div class="ttdef"><b>Definition:</b> PxMassProperties.h:235</div></div>
<div class="ttc" id="classPxTransform_html_adf6d2666a8113a72b4abbfe2e993a781"><div class="ttname"><a href="classPxTransform.html#adf6d2666a8113a72b4abbfe2e993a781">PxTransform::transform</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 transform(const PxVec3 &amp;input) const</div><div class="ttdef"><b>Definition:</b> PxTransform.h:111</div></div>
<div class="ttc" id="classPxMat33_html_ae7052afa072d3c45c1f570a6a794c6a5"><div class="ttname"><a href="classPxMat33.html#ae7052afa072d3c45c1f570a6a794c6a5">PxMat33::createDiagonal</a></div><div class="ttdeci">PX_CUDA_CALLABLE static PX_INLINE const PxMat33 createDiagonal(const PxVec3 &amp;d)</div><div class="ttdoc">Construct from diagonal, off-diagonals are zero. </div><div class="ttdef"><b>Definition:</b> PxMat33.h:176</div></div>
<div class="ttc" id="classPxVec3_html_a29958700f50da2204edc519b47706a05"><div class="ttname"><a href="classPxVec3.html#a29958700f50da2204edc519b47706a05">PxVec3::y</a></div><div class="ttdeci">float y</div><div class="ttdef"><b>Definition:</b> PxVec3.h:381</div></div>
<div class="ttc" id="classPxMassProperties_html"><div class="ttname"><a href="classPxMassProperties.html">PxMassProperties</a></div><div class="ttdoc">Utility class to compute and manipulate mass and inertia tensor properties. </div><div class="ttdef"><b>Definition:</b> PxMassProperties.h:63</div></div>
<div class="ttc" id="classPxMeshScale_html_a12f2dbcf5214c4c5956dab0e75831449"><div class="ttname"><a href="classPxMeshScale.html#a12f2dbcf5214c4c5956dab0e75831449">PxMeshScale::scale</a></div><div class="ttdeci">PxVec3 scale</div><div class="ttdoc">A nonuniform scaling. </div><div class="ttdef"><b>Definition:</b> PxMeshScale.h:164</div></div>
<div class="ttc" id="classPxMassProperties_html_a978392fb04bb472602f9fc1315d5f116"><div class="ttname"><a href="classPxMassProperties.html#a978392fb04bb472602f9fc1315d5f116">PxMassProperties::mass</a></div><div class="ttdeci">PxReal mass</div><div class="ttdoc">The mass of the object. </div><div class="ttdef"><b>Definition:</b> PxMassProperties.h:327</div></div>
<div class="ttc" id="PxGeometryHelpers_8h_html_aa55209c75b105f03f459417b08801e69"><div class="ttname"><a href="PxGeometryHelpers_8h.html#aa55209c75b105f03f459417b08801e69">geometry</a></div><div class="ttdeci">PxU8 geometry[sizeof(PxGeometry)]</div><div class="ttdef"><b>Definition:</b> PxGeometryHelpers.h:215</div></div>
<div class="ttc" id="structPxGeometryType_html_aefc79f72c4c479192ac19d41a6f30ed5a73f7721d7db869464f4038638466d5ac"><div class="ttname"><a href="structPxGeometryType.html#aefc79f72c4c479192ac19d41a6f30ed5a73f7721d7db869464f4038638466d5ac">PxGeometryType::eINVALID</a></div><div class="ttdoc">internal use only! </div><div class="ttdef"><b>Definition:</b> PxGeometry.h:63</div></div>
<div class="ttc" id="group__common_html_gade7a77d4ae9d14e363364a9d72cf4932"><div class="ttname"><a href="group__common.html#gade7a77d4ae9d14e363364a9d72cf4932">PxDiagonalize</a></div><div class="ttdeci">PX_FOUNDATION_API PxVec3 PxDiagonalize(const PxMat33 &amp;m, PxQuat &amp;axes)</div></div>
<div class="ttc" id="classPxTransform_html"><div class="ttname"><a href="classPxTransform.html">PxTransform</a></div><div class="ttdoc">class representing a rigid euclidean transform as a quaternion and a vector </div><div class="ttdef"><b>Definition:</b> PxTransform.h:48</div></div>
<div class="ttc" id="classPxQuat_html_a35ac53818eeab314fc2888542b969544"><div class="ttname"><a href="classPxQuat.html#a35ac53818eeab314fc2888542b969544">PxQuat::isUnit</a></div><div class="ttdeci">PX_CUDA_CALLABLE bool isUnit() const</div><div class="ttdoc">returns true if finite and magnitude is close to unit </div><div class="ttdef"><b>Definition:</b> PxQuat.h:132</div></div>
<div class="ttc" id="classPxMat33_html_a9af2a3d4f9cca979c3e46a6406de6957"><div class="ttname"><a href="classPxMat33.html#a9af2a3d4f9cca979c3e46a6406de6957">PxMat33::column2</a></div><div class="ttdeci">PxVec3 column2</div><div class="ttdef"><b>Definition:</b> PxMat33.h:353</div></div>
<div class="ttc" id="classPxMat33_html"><div class="ttname"><a href="classPxMat33.html">PxMat33</a></div><div class="ttdoc">3x3 matrix class </div><div class="ttdef"><b>Definition:</b> PxMat33.h:90</div></div>
<div class="ttc" id="classPxMassProperties_html_a53afd0d4b906ee9d96b23ea0bb41287b"><div class="ttname"><a href="classPxMassProperties.html#a53afd0d4b906ee9d96b23ea0bb41287b">PxMassProperties::getMassSpaceInertia</a></div><div class="ttdeci">static PX_FORCE_INLINE PxVec3 getMassSpaceInertia(const PxMat33 &amp;inertia, PxQuat &amp;massFrame)</div><div class="ttdoc">Get the entries of the diagonalized inertia tensor and the corresponding reference rotation...</div><div class="ttdef"><b>Definition:</b> PxMassProperties.h:195</div></div>
<div class="ttc" id="classPxMassProperties_html_acf94746d2a0e2e989bad06d97c6c387b"><div class="ttname"><a href="classPxMassProperties.html#acf94746d2a0e2e989bad06d97c6c387b">PxMassProperties::translateInertia</a></div><div class="ttdeci">static PX_FORCE_INLINE PxMat33 translateInertia(const PxMat33 &amp;inertia, const PxReal mass, const PxVec3 &amp;t)</div><div class="ttdoc">Translate an inertia tensor using the parallel axis theorem. </div><div class="ttdef"><b>Definition:</b> PxMassProperties.h:213</div></div>
<div class="ttc" id="PxMathUtils_8h_html"><div class="ttname"><a href="PxMathUtils_8h.html">PxMathUtils.h</a></div></div>
<div class="ttc" id="classPxMassProperties_html_a63e7875cb60efa35150002e56fcfa43f"><div class="ttname"><a href="classPxMassProperties.html#a63e7875cb60efa35150002e56fcfa43f">PxMassProperties::sum</a></div><div class="ttdeci">static PxMassProperties sum(const PxMassProperties *props, const PxTransform *transforms, const PxU32 count)</div><div class="ttdoc">Sum up individual mass properties. </div><div class="ttdef"><b>Definition:</b> PxMassProperties.h:291</div></div>
<div class="ttc" id="PxBoxGeometry_8h_html"><div class="ttname"><a href="PxBoxGeometry_8h.html">PxBoxGeometry.h</a></div></div>
<div class="ttc" id="PxMath_8h_html"><div class="ttname"><a href="PxMath_8h.html">PxMath.h</a></div></div>
<div class="ttc" id="classPxCapsuleGeometry_html_ac4f07af35bc86338c5bd01e11266dadd"><div class="ttname"><a href="classPxCapsuleGeometry.html#ac4f07af35bc86338c5bd01e11266dadd">PxCapsuleGeometry::radius</a></div><div class="ttdeci">PxReal radius</div><div class="ttdoc">The radius of the capsule. </div><div class="ttdef"><b>Definition:</b> PxCapsuleGeometry.h:84</div></div>
<div class="ttc" id="PxVec3_8h_html"><div class="ttname"><a href="PxVec3_8h.html">PxVec3.h</a></div></div>
<div class="ttc" id="classPxMat33_html_a89d12d4e50ffc5ef8e480bdd3dadb78a"><div class="ttname"><a href="classPxMat33.html#a89d12d4e50ffc5ef8e480bdd3dadb78a">PxMat33::column0</a></div><div class="ttdeci">PxVec3 column0</div><div class="ttdef"><b>Definition:</b> PxMat33.h:353</div></div>
<div class="ttc" id="PxTransform_8h_html"><div class="ttname"><a href="PxTransform_8h.html">PxTransform.h</a></div></div>
<div class="ttc" id="group__foundation_html_gad6de0f4af98c5c5280b8fe695dc87318"><div class="ttname"><a href="group__foundation.html#gad6de0f4af98c5c5280b8fe695dc87318">PxIsFinite</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE bool PxIsFinite(float f)</div><div class="ttdoc">returns true if the passed number is a finite floating point number as opposed to INF...</div><div class="ttdef"><b>Definition:</b> PxMath.h:292</div></div>
<div class="ttc" id="PxMat33_8h_html"><div class="ttname"><a href="PxMat33_8h.html">PxMat33.h</a></div></div>
<div class="ttc" id="classPxCapsuleGeometry_html_af5affd7d085f89d0a90a35b97214cc40"><div class="ttname"><a href="classPxCapsuleGeometry.html#af5affd7d085f89d0a90a35b97214cc40">PxCapsuleGeometry::halfHeight</a></div><div class="ttdeci">PxReal halfHeight</div><div class="ttdoc">half of the capsule&amp;#39;s height, measured between the centers of the hemispherical ends. </div><div class="ttdef"><b>Definition:</b> PxCapsuleGeometry.h:89</div></div>
<div class="ttc" id="PxGeometry_8h_html"><div class="ttname"><a href="PxGeometry_8h.html">PxGeometry.h</a></div></div>
<div class="ttc" id="structPxGeometryType_html_aefc79f72c4c479192ac19d41a6f30ed5a9f3d57b4f0e71ce2a6cf29bee36162ed"><div class="ttname"><a href="structPxGeometryType.html#aefc79f72c4c479192ac19d41a6f30ed5a9f3d57b4f0e71ce2a6cf29bee36162ed">PxGeometryType::eCONVEXMESH</a></div><div class="ttdef"><b>Definition:</b> PxGeometry.h:59</div></div>
<div class="ttc" id="classPxQuat_html_a2bafc323c17556f69e17ffccdd127dd1"><div class="ttname"><a href="classPxQuat.html#a2bafc323c17556f69e17ffccdd127dd1">PxQuat::rotate</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE const PxVec3 rotate(const PxVec3 &amp;v) const</div><div class="ttdef"><b>Definition:</b> PxQuat.h:287</div></div>
<div class="ttc" id="structPxGeometryType_html_aefc79f72c4c479192ac19d41a6f30ed5a4ac248bdee2283c0471c9dc0eba40c34"><div class="ttname"><a href="structPxGeometryType.html#aefc79f72c4c479192ac19d41a6f30ed5a4ac248bdee2283c0471c9dc0eba40c34">PxGeometryType::eBOX</a></div><div class="ttdef"><b>Definition:</b> PxGeometry.h:58</div></div>
<div class="ttc" id="group__foundation_html_ga4a83a657390b324a460f14684e5accee"><div class="ttname"><a href="group__foundation.html#ga4a83a657390b324a460f14684e5accee">PX_ASSERT</a></div><div class="ttdeci">#define PX_ASSERT(exp)</div><div class="ttdef"><b>Definition:</b> PxAssert.h:59</div></div>
<div class="ttc" id="structPxGeometryType_html_aefc79f72c4c479192ac19d41a6f30ed5a6b3210a7dca3bddcc8755338987725eb"><div class="ttname"><a href="structPxGeometryType.html#aefc79f72c4c479192ac19d41a6f30ed5a6b3210a7dca3bddcc8755338987725eb">PxGeometryType::eTRIANGLEMESH</a></div><div class="ttdef"><b>Definition:</b> PxGeometry.h:60</div></div>
<div class="ttc" id="classPxQuat_html_a1c665c57310b414f973f7d90d6b89c2a"><div class="ttname"><a href="classPxQuat.html#a1c665c57310b414f973f7d90d6b89c2a">PxQuat::isFinite</a></div><div class="ttdeci">PX_CUDA_CALLABLE bool isFinite() const</div><div class="ttdoc">returns true if all elements are finite (not NAN or INF, etc.) </div><div class="ttdef"><b>Definition:</b> PxQuat.h:124</div></div>
<div class="ttc" id="PxCapsuleGeometry_8h_html"><div class="ttname"><a href="PxCapsuleGeometry_8h.html">PxCapsuleGeometry.h</a></div></div>
<div class="ttc" id="classPxMat33_html_a03af319e25574c59fb66ceb675bb6b56"><div class="ttname"><a href="classPxMat33.html#a03af319e25574c59fb66ceb675bb6b56">PxMat33::getTranspose</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE const PxMat33 getTranspose() const</div><div class="ttdoc">Get transposed matrix. </div><div class="ttdef"><b>Definition:</b> PxMat33.h:190</div></div>
<div class="ttc" id="group__foundation_html_gacce5749db3dcfb916e98c253374264ed"><div class="ttname"><a href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a></div><div class="ttdeci">uint32_t PxU32</div><div class="ttdef"><b>Definition:</b> Px.h:48</div></div>
<div class="ttc" id="classPxQuat_html_a3f2432f5a2682489eb889ea178f364be"><div class="ttname"><a href="classPxQuat.html#a3f2432f5a2682489eb889ea178f364be">PxQuat::rotateInv</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE const PxVec3 rotateInv(const PxVec3 &amp;v) const</div><div class="ttdef"><b>Definition:</b> PxQuat.h:301</div></div>
<div class="ttc" id="classPxMassProperties_html_a5a7eadca391b0cd981c0b35e08c82662"><div class="ttname"><a href="classPxMassProperties.html#a5a7eadca391b0cd981c0b35e08c82662">PxMassProperties::PxMassProperties</a></div><div class="ttdeci">PX_FORCE_INLINE PxMassProperties(const PxReal m, const PxMat33 &amp;inertiaT, const PxVec3 &amp;com)</div><div class="ttdoc">Construct from individual elements. </div><div class="ttdef"><b>Definition:</b> PxMassProperties.h:74</div></div>
<div class="ttc" id="structPxGeometryType_html_aefc79f72c4c479192ac19d41a6f30ed5a31e6fe000bdf2ba4c3bd2527351247fc"><div class="ttname"><a href="structPxGeometryType.html#aefc79f72c4c479192ac19d41a6f30ed5a31e6fe000bdf2ba4c3bd2527351247fc">PxGeometryType::ePLANE</a></div><div class="ttdef"><b>Definition:</b> PxGeometry.h:56</div></div>
<div class="ttc" id="classPxMassProperties_html_aeefe4de17f788dacbf9c48fd5ec857ac"><div class="ttname"><a href="classPxMassProperties.html#aeefe4de17f788dacbf9c48fd5ec857ac">PxMassProperties::inertiaTensor</a></div><div class="ttdeci">PxMat33 inertiaTensor</div><div class="ttdoc">The inertia tensor of the object. </div><div class="ttdef"><b>Definition:</b> PxMassProperties.h:325</div></div>
<div class="ttc" id="classPxVec3_html_a50d67b162b99b904c3f362ad0415dbca"><div class="ttname"><a href="classPxVec3.html#a50d67b162b99b904c3f362ad0415dbca">PxVec3::z</a></div><div class="ttdeci">float z</div><div class="ttdef"><b>Definition:</b> PxVec3.h:381</div></div>
<div class="ttc" id="classPxMassProperties_html_a85e7fed6380689c668afa3f531013d2b"><div class="ttname"><a href="classPxMassProperties.html#a85e7fed6380689c668afa3f531013d2b">PxMassProperties::operator*</a></div><div class="ttdeci">PX_FORCE_INLINE PxMassProperties operator*(const PxReal scale) const</div><div class="ttdoc">Scale mass properties. </div><div class="ttdef"><b>Definition:</b> PxMassProperties.h:165</div></div>
<div class="ttc" id="classPxMat33_html_a62f190479e12e7b9ec5cf831b23c95e9"><div class="ttname"><a href="classPxMat33.html#a62f190479e12e7b9ec5cf831b23c95e9">PxMat33::column1</a></div><div class="ttdeci">PxVec3 column1</div><div class="ttdef"><b>Definition:</b> PxMat33.h:353</div></div>
<div class="ttc" id="classPxConvexMeshGeometry_html"><div class="ttname"><a href="classPxConvexMeshGeometry.html">PxConvexMeshGeometry</a></div><div class="ttdoc">Convex mesh geometry class. </div><div class="ttdef"><b>Definition:</b> PxConvexMeshGeometry.h:80</div></div>
<div class="ttc" id="classPxBoxGeometry_html"><div class="ttname"><a href="classPxBoxGeometry.html">PxBoxGeometry</a></div><div class="ttdoc">Class representing the geometry of a box. </div><div class="ttdef"><b>Definition:</b> PxBoxGeometry.h:50</div></div>
<div class="ttc" id="classPxVec3_html_af4b49e74946c63d292cd979fa216cd85"><div class="ttname"><a href="classPxVec3.html#af4b49e74946c63d292cd979fa216cd85">PxVec3::multiply</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 multiply(const PxVec3 &amp;a) const</div><div class="ttdoc">a[i] * b[i], for all i. </div><div class="ttdef"><b>Definition:</b> PxVec3.h:336</div></div>
<div class="ttc" id="classPxVec3_html"><div class="ttname"><a href="classPxVec3.html">PxVec3</a></div><div class="ttdoc">3 Element vector class. </div><div class="ttdef"><b>Definition:</b> PxVec3.h:49</div></div>
<div class="ttc" id="classPxMassProperties_html_a8f4e5b19248941b3ee2369afadb20e96"><div class="ttname"><a href="classPxMassProperties.html#a8f4e5b19248941b3ee2369afadb20e96">PxMassProperties::centerOfMass</a></div><div class="ttdeci">PxVec3 centerOfMass</div><div class="ttdoc">The center of mass of the object. </div><div class="ttdef"><b>Definition:</b> PxMassProperties.h:326</div></div>
<div class="ttc" id="classPxVec3_html_a391194bca8291161c06254f4ac2b6ada"><div class="ttname"><a href="classPxVec3.html#a391194bca8291161c06254f4ac2b6ada">PxVec3::x</a></div><div class="ttdeci">float x</div><div class="ttdef"><b>Definition:</b> PxVec3.h:381</div></div>
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